CN107428247A - For the framework with the automatic drive assist system of sub conditione - Google Patents

For the framework with the automatic drive assist system of sub conditione Download PDF

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Publication number
CN107428247A
CN107428247A CN201680004930.1A CN201680004930A CN107428247A CN 107428247 A CN107428247 A CN 107428247A CN 201680004930 A CN201680004930 A CN 201680004930A CN 107428247 A CN107428247 A CN 107428247A
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China
Prior art keywords
computer
framework
redundant
sensor
brakes
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Granted
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CN201680004930.1A
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Chinese (zh)
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CN107428247B (en
Inventor
C.罗伯特
V.皮克隆
M.利曼
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Valeo Schalter und Sensoren GmbH
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Valeo Schalter und Sensoren GmbH
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
    • G05D1/0077—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements using redundant signals or controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle 
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
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    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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    • G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
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    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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    • G06F11/0796—Safety measures, i.e. ensuring safe condition in the event of error, e.g. for controlling element
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    • G06F11/20—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements
    • G06F11/2015—Redundant power supplies
    • G—PHYSICS
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    • G06F11/20—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements
    • G06F11/202—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements where processing functionality is redundant
    • G06F11/2048—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements where processing functionality is redundant where the redundant components share neither address space nor persistent storage
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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    • H—ELECTRICITY
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    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
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    • H04L12/40169—Flexible bus arrangements
    • H04L12/40176—Flexible bus arrangements involving redundancy
    • H04L12/40195—Flexible bus arrangements involving redundancy by using a plurality of nodes
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
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Abstract

It is used for the framework with the automatic drive assist system of sub conditione the present invention relates to a kind of, it can control the automatic emergency of vehicle to stop, including：The group (2) of the sensor of at least three kinds different technologies, for observing the region of vehicle front；Master computer (10), it can be via the first upstream data traffic network from the sensor group (2) receive information, and transmits commands to via the first downstream communication network the first computer (3), the second computer (4) to brakes and the 3rd computer (5) to steering control system of engine control system；Redundant computer (11), can be via the second upstream data traffic network from the sensor group receive information；Main power source, link to each computer；And stand-by power supply.The framework includes the second downstream communication network, redundant computer (11) is only connected to the second computer (4) of brakes by it, ordered for transmitting, and stand-by power supply is only connected to master computer (10), the second computer (4) to redundant computer (11) and to brakes.

Description

For the framework with the automatic drive assist system of sub conditione
Technical field
The present invention relates generally to the motor vehicles equipped with automatic Pilot accessory system, and more accurately, is related to so-called " sub conditione is automatic " system.
Background technology
Driving is advanced automatically, and to solve a large amount of problems, such as safe, mobility, environmental protection drive and to owner Driving accessibility.Now, there can be full-automatic unmanned driving's vehicle in specific regions.For having with automatic road vehicle The project of pass is not that so, before automatic road vehicle sale is seen, such vehicle has many problems to need to solve, special It is not in legal field and security fields.Especially, in the case where the automatic road vehicle of driver be present, Vienna Convention Require that driver must can always control his vehicle in the 8.5th article.
The automatic road vehicle standard committees of SAE (initial of Society of automotive engineers) disclose new report recently, The classification (" classification on the term of road vehicle automated driving system on January 16 in 2014 of automatic Pilot grade is provided And definition ", standard J3016), driven for being shared between each classification grade, including driver and one or more automatic systems Sail the rule of supervision and management.More accurately, this report defines six grades, does not have the grade 0 of any automatic system from vehicle To the completely automatic class 5 of vehicle, therebetween by different automaticities, wherein, the share increase automated every time, drive The share of member's responsibility reduces.Thus：
- grade 1 corresponds to drive assist system, its only relate to vehicle it is longitudinally controlled (for example, by initial ACC or System known to " auto-cruising control "), or the crosswise joint of vehicle is only related to (for example, for aiding in the path in track The system of holding, or the system of the auxiliary lane change for being used in the case where process condition is stopped or avoided after overtaking other vehicles or overtaking other vehicles)；
- grade 2 corresponds to so-called " part is automatic " grade, wherein, car can be combined in one or more drive assist systems Horizontal and vertical control；
- grade 3 corresponds to so-called " sub conditione is automatic " grade, wherein, driver on the time span being determined and It is allowed to not be absorbed in driving on particular type road (such as high speed).Automatic system associated therewith then supervises the transverse direction of vehicle And/or it is longitudinally controlled, but must concede responsibility to driver problematic when.
- class 4 corresponds to the fully automated of vehicle, but driver drives with appointing under any circumstance and wished at him When return his possibility, this is independently of duration and any specific region；
- class 5 corresponds to fully automated vehicle, and driver is without the possibility of interaction.
U.S. federal agencies the NHTSA (" national highways of responsible road safety are corresponded essentially to according to SAE grade 0 to 5 Transportation Security Administration ") grade 0 to 4.
Due to the aforesaid clause of Vienna Convention, there are currently no allowed by law for the vehicle in grade 3 to 5.Grade 0 to 2 another aspects are allowed to, because driver is actually still unique regulator of driving.
Concern after this is according to the project of the following automotive vehicle of the grade 3 of SAE or NHTSA standards, and it is equipped There is sub conditione automatic system.The receiving of the modification --- it applies permanent driver's responsibility now --- of Vienna Convention is as most It is low to require to implement a number of safe operation program and allow driver to return to supervision state in thrashing Strategy.
Especially important strategy is related to returns to safe condition in the case where driver can not recapture control.In the situation Under, and be especially sufficient that when vehicle is being advanced on highway with relatively low speed for system, on its travel lane Carry out the stopping of vehicle.The each stage generally implemented in the tactful application schematically shows in Fig. 1, and it shows this Act the result to the function as the time of car speed.
In the Fig. 1, td represents that this requires that driver recaptures control in theory at the time of detecting of serious failure.From this Moment, sub conditione automatic system admittedly must concede control to driver, but must be sure that in short time span (typical case Ground five to ten seconds) function, to allow driver veritably to recapture the control of driving.The stage is in figure by the table of stage _ 1 Show, and show that the speed of vehicle keeps constant.If driver does not react when completing at this stage _ 1, system starts to relax Brake (being in Fig. 1 stage _ 2, and five to ten seconds) in ground.Finally, if driver does not still have when completing at this stage _ 2 Reaction, the then bigger braking of system instruction, until vehicle stops completely.The stage is represented by stage _ 3 in Fig. 1.
From the visual angle of function, in order to ensure returning to safe condition, sub conditione automatic system allows for checking before vehicle Fang Fasheng what, brakes and engine control system can be controlled to regulate the speed as a result, and electricity can be controlled Sub- steering control system, to be maintained in same driving lane.
These requirements in terms of safe operation are directed to use with the framework with big redundancy, and thus significantly affecting these is The cost of system.Thus, according to international standard ISO 26262 --- it is according to referred to as " ASIL A, ASIL B, ASIL C and ASIL D " (initial for representing automotive safety integrity level) four grades especially define failure Critical Classification, (the attached bar of grade 3 Part is automatic) must be ASIL D, thus especially propose that vehicle has the regulation of the sensor of at least three different technologies, to see Examine the same region of vehicle environmental.Therefore ensure that the performance evaluation of good detection, it is sufficient to matched with ASIL D Security Targets, and External disturbance emitter prevents the sensor of three types while failed.
In addition, in known framework, the computer of system, (typically via CAN) allow one side sensor Other computers (brakings being related to the computer with the computer of another aspect system and for returning to the strategy of safe condition Component computer, engine control computer and course changing control computer) between exchange connection and these computers behaviour Power supply is generally double necessary to work, to ensure operation peace in the case of on the computer failure of sub conditione security system Entirely.
The content of the invention
It is used for that to there is the payable of the automatic drive assist system of the sub conditione of grade -3 the purpose of the present invention is to propose to a kind of The framework of cost.
Thus, subject of the present invention is a kind of framework for being used to have the automatic drive assist system of sub conditione, and it can The automatic emergency of vehicle is controlled to stop, including：
The group of the sensor of-at least three kinds different technologies, for observing the region of vehicle front；
- master computer, it can be by the first upstream data traffic network from the sensor group receive information, and passes through First downstream communication network transmits commands to the first computer of engine control system, the second computer to brakes With the 3rd computer to steering control system；
- redundant computer, it can be by the second upstream data traffic network from the sensor group receive information；
- main power source, link to each computer；With
- stand-by power supply；
Characterized in that, it includes the second downstream communication network, it only links to redundant computer the institute of brakes Second computer is stated, orders, and is for transmitting, stand-by power supply is simply linked to master computer, to redundant computer and to making The second computer of dynamic system.
According to other possible features of the framework：
- the first and second upstream and downstream data communication networks are serial data bus networks, it is therefore preferable to CAN network；
- redundant computer is identical with master computer, and in this case, both of which has identical failure critical level, Preferably ASIL D grades；
- variant is used as, redundant computer can only have the failure critical level lower than master computer, e.g. ASIL B etc. Level, if master computer is ASIL D；
- the sensor group is for example including at least one imaging sensor, a radar sensor and a laser sensor；
- redundant computer can link to master computer, and be controlled as so as to only feelings in the failure on master computer Under condition, by the second upstream data traffic network from the sensor group receive information；
- variant is used as, redundant computer is for good and all received by the second upstream data traffic network from the sensor group Information, or even in the case of not on the failure of master computer.
Brief description of the drawings
The following description of refer to the attached drawing, the present invention and its advantage brought are better understood with, in the accompanying drawings：
Fig. 1, have been described above, it is schematically shown by being returned with the automatic drive assist system of sub conditione The stage implemented to the known strategy of safe condition；
Fig. 2 schematically shows a kind of exemplary architecture according to the present invention, for automatically driving auxiliary with sub conditione System.
Embodiment
Through this specification, the drive assist system of any grade 3 (SAE/NHTSA) is referred to as " having sub conditione automatic Drive assist system ".
A kind of to be used for the framework with the automatic drive assist system of sub conditione with reference to figure 2, it can control oneself of vehicle Move emergent stopping and the scene according to Fig. 1 ensures to return to safe condition, generally include kernel control module 1, the core control Molding block includes：
- on the one hand, master computer 10, its can by the first upstream data traffic network from the receive information of sensor group 2, The sensor group 2 can observe the region of front part of vehicle；
- on the other hand, redundant computer 11, master computer 10 is linked to, and the second upstream data traffic net can be passed through Network is from the receive information of sensor group 2.
There is the system ASIL D to fail critical level, hence for group 2, be arranged to different be used to sense using three kinds The technology of device.Thus, as non-limitative example, the group 2 may include at least one 20, radar sensors of laser sensor 21 and an imaging sensor 22.No matter using the combination of which kind of different technologies (or type), principle of the invention is all to answer .
In fig. 2, the first upstream network is included between sensor 20 to 22 and master computer 10 solid line such as and schematically shown Three connections gone out, and the second upstream network is included between these sensors 20 to 22 and redundant computer 10 dotted line such as and illustrated Property shown in three connection.
The effect of master computer 10 is information of the processing from sensor 20 to 22, and especially, if necessary, should With the strategy for returning to safe condition, as described in reference to fig. 1.Thus, the computer 10 can transmit appropriate order and extremely exist The each computer for the vehicle being related in the strategy, is especially transmitted separately to：
First computer 3 of-engine control system,
The second computer 4 of-brakes；With
3rd computer 5 of-steering control system.
The transmission of order is performed by the first downstream communication network, and it passes through master computer 10 and three computers 3,4 and 5 Between solid line connection represent.
All above computer are powered by main power source, such as the battery (+BAT1 in Fig. 2).
The effect of redundant computer 11 is that its own is replaced by into master computer in the case where master computer 10 fails.
According to the present invention, instead of turning over for the downstream communication network between the computer of the system and three computers 3,4 and 5 Times, it is arranged to herein, there is provided redundant computer 11 is simply linked to the second downstream communication net of the second computer 4 of brakes Network, the transmission for order.The second downstream communication network uses dotted line table between redundant computer 11 and brake calculation machine 4 Show.
The control of the type is enough the steering for also controlling vehicle, particularly low speed.In fact, the computer of brakes shows It is being so-called ESP computers (initial for representing ESP) entirely, it can order each wheel in a different manner On braking, and thus accomplish that vehicle is maintained in its track, until its stopping.
In addition, in order to alleviate main power source+BAT1 possible breakdown, the stand-by power supply (+BAT2 in Fig. 2) --- it is, for example, electricity Pond --- it is set in the architecture.Herein again, by the way that the stand-by power supply is arranged to only by master computer 10, standby meter Calculation machine 11 and the computer of brakes 4 are used alone, and the framework, which is simplified to, only remains necessary degree.
In other words, component computer downstream is included in so that being only used for the calculating of brakes according to the framework of the present invention The communication network and dual power supply of machine 4 form redundancy.
This causes cost to reduce, and it is never limited in the guarantor that safe condition is returned in the case where driver can not recapture control Card.
In Fig. 2 framework, have been contemplated that, redundant computer 11 is linked to master computer 10, so as to which it is only in host computer Machine operates in the case of failing in reception and transmitting.
But in the case of without departing from the scope of the present invention, two computers 10 and 11 can not be linked.In the feelings Under condition, two for good and all parallel work-flows of computer 10 and 11, and in the case where master computer fails, the computer 3,4 in downstream Standby mode is switched to 5.This is then " hot redundancy ".The program allows to reconstruct faster but consume more energy.

Claims (9)

1. a kind of be used for the framework with the automatic drive assist system of sub conditione, it can control the automatic emergency of vehicle to stop Only, including：
The group (2) of the sensor of-at least three kinds different technologies, for observing the region of vehicle front；
- master computer (10), its can by the first upstream data traffic network from the sensor group (2) receive information, and The first computer (3) of engine control system is transmitted commands to by the first downstream communication network, transmitted to brakes Second computer (4) and transmit to the 3rd computer (5) of steering control system；
- redundant computer (11), it can be by the second upstream data traffic network from the sensor group receive information；
- main power source, link to each computer；With
- stand-by power supply；
Characterized in that, it includes the second downstream communication network, redundant computer (11) is only linked to the brakes by it Second computer (4), order for transmitting, and be characterised by, stand-by power supply is simply linked to master computer (10), to standby meter Calculation machine (11) and the second computer (4) to brakes.
2. framework as claimed in claim 1, it is characterised in that the first and second upstream and downstream data communication networks are serial Data bus network.
3. framework as claimed in claim 2, it is characterised in that the first and second upstream and downstream data communication networks are CAN Network.
4. the framework as described in any one of preceding claims, it is characterised in that redundant computer (11) and master computer (10) it is identical.
5. the framework as described in any one of Claims 1-4, it is characterised in that redundant computer (11) has than analytic accounting The low failure critical level of calculation machine (10).
6. framework as claimed in claim 5, it is characterised in that the failure critical level of master computer (10) is ASIL D, standby Failure critical level with computer (11) is ASIL B.
7. the framework as described in any one of preceding claims, it is characterised in that the sensor group (2) includes at least one Individual imaging sensor, a radar sensor and a laser sensor.
8. the framework as described in any one of preceding claims, it is characterised in that redundant computer (11) links to analytic accounting Calculation machine (10), and be controlled such that and only lead in the case of the failure on master computer (10), by the second upstream data Communication network is from the sensor group receive information.
9. the framework as described in any one of claim 1 to 7, it is characterised in that redundant computer (11) is by second Data communication network is swum from the sensor group for good and all receive information, or even in the not failure on master computer (10) In the case of.
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